Inorder to extract a RAR file, it is required to install UNRAR. Hence please follow the below given steps:

# yum install unrar

OR

Download binary package from official rarlab site:

$ cd /usr/src
$ wget http://www.rarlab.com/rar/rarlinux-3.7.1.tar.gz

Untar file
$ tar -zxvf rarlinux-3.7.1.tar.gz

Both unrar and rar commands are located in rar sub-directory. Just go to rar directory:
$ cd rar

Now copy rar and unrar to /bin directory:
# cp rar unrar /bin

To open rar (unpack) file in current directory type command:
$ unrar e file.rar

List (l) file inside rar archive:
$ unrar l file.rar

To extract (x) files with full path type command:
$ unrar x file.rar

To test (t) integrity of archive, file type command:
$ unrar t file.rar